CN205524706U - Two -wheeled electrodynamic balance car that pressure control turned to - Google Patents
Two -wheeled electrodynamic balance car that pressure control turned to Download PDFInfo
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- CN205524706U CN205524706U CN201620390639.XU CN201620390639U CN205524706U CN 205524706 U CN205524706 U CN 205524706U CN 201620390639 U CN201620390639 U CN 201620390639U CN 205524706 U CN205524706 U CN 205524706U
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- Prior art keywords
- balance car
- pressure transducer
- tread plate
- wheel hub
- hand tread
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Abstract
The utility model discloses a two -wheeled electrodynamic balance car that pressure control turned to, including the balance car frame, left pedal, right pedal, left motor, right motor, battery module and control system to rely on two feet of user to obtain user's the intention that turns to to the different pressure values of balanced automobile body, then the control motor move with different rotational speeds, thereby realize turning to the steady operation of assurance car. Pressure control turns to and makes the mechanical structure of car to simplify, and simultaneously the volume of car also has and necessarily reduces, and the user carries more portablely.
Description
Technical field
This utility model relates to a kind of electric walk instead instrument, the two-wheel electric balance car that a kind of Stress control turns to.
Background technology
Current existing balance car ride instead of walk product have electronic singular equilibrium take turns car, two-wheel electric balance car, two-wheel electric scooter.Two
Wheel balance car is the most fashionable because of features such as it are practical, recreational by force, study is convenient.Two-wheel electric balance car also known as swing car,
Swing car increases middle machenical coupling, relies on gyroscope perception left and right sides windup-degree poor, thus it is poor to control motor speed,
Control turns to.The control mode of the windup-degree difference of this dependence frame for movement, although flexibly turning to of swing car can be realized,
But there is also complicated in mechanical structure, speed controls unstable problem, such as: the mechanical structure system of torsion adds flat
The complicated in mechanical structure degree of weighing apparatus car, adds the weight and volume of car body；The mechanical structure system reversed can make about swing car
Both sides are reversed, relatively flexible running at a low speed lower turning rate, but are the increase under fast speed the unstability travelled, and easily produce
Raw safety problem.
Semen setariae balance car, NineBot, Segway balance car, happy row two-wheeled balance car etc., these cars increase steering handle or
Increase leg turning-bar, rely on potentiometer or encoder to measure the desired steering angle of user, and then control two motors not
Same rotating speed, it is achieved turn to.The steering control modes of this dependence turning-bar, although the flexible of two-wheel electric balance car can be realized
Turn to, and compensate for the shortcoming that swing car relies on the windup-degree difference control mode of frame for movement, but add balance too
The complicated in mechanical structure degree of car, and add the weight and volume of car body to a certain extent.
Utility model content
For the weak point overcoming above-mentioned prior art to exist, the utility model proposes the two-wheel electric that a kind of Stress control turns to and put down
Weighing apparatus car, while reducing tare and volume, it is ensured that car body balance and stable traveling.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is:
The feature of the two-wheel electric balance car that a kind of Stress control of this utility model turns to includes: balance car vehicle frame, right-hand tread plate, left
Pedal, right wheel hub motor, left wheel hub motor, battery module and control system；
Described control system includes: left electric machine controller, right electric machine controller, left pressure transducer, right pressure transducer, top
Spiral shell instrument sensor, motion controller；
Respectively central shaft is provided with described left wheel hub motor and right wheel hub motor in the both sides of described balance car vehicle frame；
It is respectively arranged with described left-hand tread plate and right-hand tread plate in the both sides of described balance car vehicle frame upper surface；
It is respectively provided with between described left-hand tread plate and described balance car vehicle frame and between described right-hand tread plate and described balance car vehicle frame
There are described left pressure transducer and right pressure transducer；
It is internally provided with described battery module, left electric machine controller, right electric machine controller, gyroscope at described balance car vehicle frame
Sensor and motion controller；
Described motion controller gathers the luffing angle signal of vehicle body by described gyro sensor, and is delivered separately to a described left side
Electric machine controller and right electric machine controller, be used for driving described right wheel hub motor and left wheel hub motor advance or retreat and keep simultaneously
Car body balances；And obtain pressure signal by described left pressure transducer or right pressure transducer, for controlling turning to of car body；
Described battery module is for powering for car body.
The feature of two-wheel electric balance car described in the utility model lies also in:
Between described left-hand tread plate and left pressure transducer and between described right-hand tread plate and right pressure transducer, it is respectively arranged with
Elastic sheet steel plate.
Described left and right pressure transducer can also be left and right pressure contact switch.
Compared with the prior art, the beneficial effects of the utility model are:
1, the two-wheel electric balance car that this utility model Stress control turns to, can control car by the change of perception human bady gravitational and turn
To, and ensure car body balance and stablize.
2, two-wheel electric balance car steering control modes of the present utility model, by using left and right sides pressure transducer to gather pressure
Signal, is realized the balance and stability of car body, and realizes flexibly turning to, overcome existing balance car and depend on by controller distribution rotating speed
The steering control modes of the control mode poor by the windup-degree of frame for movement and dependence turning-bar controls unstable multiple with frame for movement
Miscellaneous problem.
3, the pressure steering control modes of this utility model design considerably increases the safety and stability of system, when dependence turns to
Inside pressure is more than the principle of outside pressure, and relies on pressure transducer collection signal identification to turn to intention, it is achieved thereby that car body
Turning to, this mode can accurately obtain driving intention, can guarantee that again driving safety, it is ensured that car runs smoothly.
4, the pressure steering control system simple in construction of this utility model design, substantially reduces the volume and weight of car load, uses
Family is carried convenient.
Accompanying drawing explanation
Fig. 1 is the schematic appearance of the two-wheel electric balance car that a kind of Stress control of the present utility model turns to；
Fig. 2 is the internal structure schematic diagram of two-wheel electric balance car of the present utility model；
Fig. 3 be a wherein side pressure sensor of two-wheel electric balance car of the present utility model, pedal and the installation of vehicle frame show
It is intended to；
Fig. 4 is the Control system architecture schematic diagram of two-wheel electric balance car of the present utility model；
Label in figure: 1 balance car vehicle frame；2 right-hand tread plates；3 left-hand tread plates；4 right wheel hub motors；5 left wheel hub motors；6 batteries
Module；11 motion controllers；12 gyro sensors；13 left pressure transducers；14 right pressure transducers；15 left motor controls
Device processed；16 right electric machine controllers；18 elastic sheet steel plates.
Detailed description of the invention
As shown in Figure 1 and Figure 2, the two-wheel electric balance car that a kind of Stress control turns to includes: balance car vehicle frame 1, right-hand tread plate 2,
Left-hand tread plate 3, right wheel hub motor 4, left wheel hub motor 5, battery module 6 and control system；
Control system includes: left electric machine controller 15, right electric machine controller 16, left pressure transducer 13, right pressure transducer
14, gyro sensor 12, motion controller 11；
Respectively central shaft is provided with left wheel hub motor 5 and right wheel hub motor 4 in the both sides of balance car vehicle frame 1；As the most left
Wheel hub motor 5 and right wheel hub motor 4 select the permanent magnet brushless direct current hub motor of 5 cun of 36V, can select other as required
Diameter dimension or the wheel hub motor of power grade.Wheel hub motor function is directly anchored on vehicle frame 1 by flange.
The both sides of balance car vehicle frame 1 upper surface are respectively arranged with left-hand tread plate 3 and right-hand tread plate 2；As preferably, left-hand tread plate and right-hand tread plate
Employing elastomeric material is processed, and can increase frictional force.
It is respectively arranged with left pressure between left-hand tread plate 3 and balance car vehicle frame 1 and between right-hand tread plate 2 and balance car vehicle frame 1 to pass
Sensor 13 and right pressure transducer 14；Left pressure transducer 13 and right pressure transducer 14 select strain pressure transducer or
Person's pressure contact switchs, and selects strain pressure transducer in the present embodiment.Pressure transducer is used for gathering human body to balance frame
Force value, and using force value as steering controling signal.
It is internally provided with battery module 6, left electric machine controller 15, right electric machine controller 16, gyro at balance car vehicle frame 1
Instrument sensor 12 and motion controller 11；Electric machine controller is used for controlling wheel hub motor, as preferably, and left electric machine controller 15
Select same model electric machine controller with right electric machine controller 16, the present embodiment selects the permanent-magnet brushless DC electric machine of 300w
Controller.Gyro sensor 12 is for measuring the luffing angle of vehicle frame, as preferably, and gyro sensor 12, use
MPU6050 gyro sensor, this sensor is widely used, and cost is relatively low, uses the mode of paster welding to be horizontally arranged at fortune
On dynamic panel 11.
Motion controller 11 gathers the luffing angle signal of vehicle body by gyro sensor 12, and is delivered separately to left motor control
Device 15 processed and right electric machine controller 16, be used for driving right wheel hub motor 4 and left wheel hub motor 5 advance or retreat and keep simultaneously
Car body balances；And obtain pressure signal by left pressure transducer 13 or right pressure transducer 14, for controlling turning to of car body.
Control system architecture schematic diagram is as shown in Figure 4.Gyro sensor 12 passes through I2C communication mode to motion controller 11
Sending luffing angle signal, left pressure transducer 13 or right pressure transducer 14 analog voltage signal export to motion controller 11
AD sampling channel, motion controller 11 exports two-way pwm signal and controls left wheel hub motor 5 and right wheel hub motor 4 respectively,
Dutycycle in particular by regulation pwm signal adjusts the rotating speed of motor, and the highest rotating speed of dutycycle is the fastest.
Battery module 6 is for providing the power supply of car load, and as preferably, battery module 6 selects 18650 lithium ions of Samsung
Set of cells, battery voltage 36V, 6Ah.Different electric pressure batteries can be designed to according to different operating voltage requirements
Group, such as 48V or 60V etc..
When riding, bicyclist's left foot, right crus of diaphragm is stepped on respectively on left-hand tread plate 3, right-hand tread plate 2, and is kept stance, passes through body
The leaning forward of body, hypsokinesis, control the leaning forward of vehicle frame, hypsokinesis respectively, thus control the advance of balance car, fall back；As the most flat
Weighing apparatus controls to use the PID control method of traditional classical.
In being embodied as, between left-hand tread plate 3 and the left pressure transducer 13 of two-wheel electric balance car and right-hand tread plate 2 and right pressure
Between force transducer 14, it is respectively arranged with elastic sheet steel plate 18, as shown in Figure 3.Elastic sheet steel plate, has certain
Elasticity and rigidity, it is possible to the pressure of car body is changed by the human foot that reflects of accurate stable.Install with the pressure transducer in left side
As an example, strain pressure transducer mounting means such as Fig. 3.Pressure transducer 13 is arranged in the pit of vehicle frame 1, for
Ensure that pressure acquisition is stable, use elastic sheet steel plate 18 to cover on pressure transducer 13, use screw by Thin Elastic simultaneously
Sheet steel plate 18 is fixed on vehicle frame 1.Left-hand tread plate 3 covers on elastic sheet steel plate 18, uses adhesive glue bonding.
In the present embodiment, the steering control modes of the two-wheel electric balance car that a kind of Stress control turns to is to carry out as follows:
Step 1, motion controller 11 gather a left side for left-hand tread plate 3 respectively by left pressure transducer 13 or right pressure transducer 14
Right force value in force value and right-hand tread plate 2；
Step 2, motion controller 11 judge that whether left force value is equal to right force value；If being equal to, then it represents that car body is in straight line
Operational mode, and it is identical with the rotating speed of right wheel hub motor 4 to control left wheel hub motor 5, thus control car body straight-line travelling；If no
It is equal to, then judges that whether left force value is more than right force value；If being more than, then it represents that car body is in left turn maneuver pattern, and controls
The rotating speed of left wheel hub motor 5 is less than the rotating speed of right wheel hub motor 4, thus the left-hand rotation controlling car body travels；Otherwise, car body is represented
It is in right-hand rotation operational mode, and the rotating speed controlling left wheel hub motor 5 is more than the rotating speed of right wheel hub motor 4, thus control car body
Turn right and travel.
Claims (3)
1. the two-wheel electric balance car that Stress control turns to, is characterized in that including: balance car vehicle frame (1), right-hand tread plate (2), left
Pedal (3), right wheel hub motor (4), left wheel hub motor (5), battery module (6) and control system；
Described control system includes: left electric machine controller (15), right electric machine controller (16), left pressure transducer (13), right pressure
Sensor (14), gyro sensor (12), motion controller (11)；
Respectively central shaft is provided with described left wheel hub motor (5) and right wheel hub motor (4) in the both sides of described balance car vehicle frame (1)；
It is respectively arranged with described left-hand tread plate (3) and right-hand tread plate (2) in the both sides of described balance car vehicle frame (1) upper surface；
Between described left-hand tread plate (3) and described balance car vehicle frame (1) and between described right-hand tread plate (2) and described balance car vehicle frame (1)
It is respectively arranged with described left pressure transducer (13) and right pressure transducer (14)；
It is internally provided with described battery module (6), left electric machine controller (15), right electric machine controller described balance car vehicle frame (1)
(16), gyro sensor (12) and motion controller (11)；
Described motion controller (11) gathers the luffing angle signal of vehicle body by described gyro sensor (12), and is delivered separately to
Described left electric machine controller (15) and right electric machine controller (16), be used for driving described right wheel hub motor (4) and left wheel hub motor (5) front
Enter or retreat and keep car body balance simultaneously；And obtain pressure letter by described left pressure transducer (13) or right pressure transducer (14)
Number, for controlling turning to of car body；Described battery module (6) is for powering for car body.
Two-wheel electric balance car the most according to claim 1, is characterized in that, at described left-hand tread plate (3) and left pressure transducer
(13), between and between described right-hand tread plate (2) and right pressure transducer (14), it is respectively arranged with elastic sheet steel plate (18).
Two-wheel electric balance car the most according to claim 1, is characterized in that, described left and right pressure transducer can also be
Left and right pressure contact switchs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620390639.XU CN205524706U (en) | 2016-04-28 | 2016-04-28 | Two -wheeled electrodynamic balance car that pressure control turned to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620390639.XU CN205524706U (en) | 2016-04-28 | 2016-04-28 | Two -wheeled electrodynamic balance car that pressure control turned to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205524706U true CN205524706U (en) | 2016-08-31 |
Family
ID=56795638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620390639.XU Expired - Fee Related CN205524706U (en) | 2016-04-28 | 2016-04-28 | Two -wheeled electrodynamic balance car that pressure control turned to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205524706U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905205A (en) * | 2016-04-28 | 2016-08-31 | 合肥工业大学智能制造技术研究院 | Two-wheeled electric balance bicycle steered under pressure control and steering control manner of two-wheeled electric balance bicycle |
| CN107021163A (en) * | 2017-04-28 | 2017-08-08 | 深圳市高斯拓普科技有限公司 | A kind of Novel balance car |
| WO2019019211A1 (en) * | 2017-07-27 | 2019-01-31 | 纳恩博（北京）科技有限公司 | Roller skating device |
| WO2019019207A1 (en) * | 2017-07-27 | 2019-01-31 | 纳恩博（北京）科技有限公司 | Roller skating apparatus |
| CN109398083A (en) * | 2018-12-20 | 2019-03-01 | 苏州能斯达电子科技有限公司 | A kind of novel pressure sensitivity pedal control apparatus for electronic trip tool |
| CN111572686A (en) * | 2019-08-30 | 2020-08-25 | 苏州加彼智能科技有限公司 | Turning control method, device and system for foot-controlled balance car |
| WO2021239035A1 (en) * | 2020-05-28 | 2021-12-02 | 浙江阿尔郎科技有限公司 | Deck for balancing vehicle and balancing vehicle |
| CN115320761A (en) * | 2021-11-19 | 2022-11-11 | 钭俊龙 | Multi-program two-wheeled electric balance car and control method |
-
2016
- 2016-04-28 CN CN201620390639.XU patent/CN205524706U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905205A (en) * | 2016-04-28 | 2016-08-31 | 合肥工业大学智能制造技术研究院 | Two-wheeled electric balance bicycle steered under pressure control and steering control manner of two-wheeled electric balance bicycle |
| CN107021163A (en) * | 2017-04-28 | 2017-08-08 | 深圳市高斯拓普科技有限公司 | A kind of Novel balance car |
| WO2019019211A1 (en) * | 2017-07-27 | 2019-01-31 | 纳恩博（北京）科技有限公司 | Roller skating device |
| WO2019019207A1 (en) * | 2017-07-27 | 2019-01-31 | 纳恩博（北京）科技有限公司 | Roller skating apparatus |
| CN109398083A (en) * | 2018-12-20 | 2019-03-01 | 苏州能斯达电子科技有限公司 | A kind of novel pressure sensitivity pedal control apparatus for electronic trip tool |
| CN109398083B (en) * | 2018-12-20 | 2023-09-22 | 苏州能斯达电子科技有限公司 | Novel pressure-sensitive pedal control device for electric travel tool |
| CN111572686A (en) * | 2019-08-30 | 2020-08-25 | 苏州加彼智能科技有限公司 | Turning control method, device and system for foot-controlled balance car |
| WO2021239035A1 (en) * | 2020-05-28 | 2021-12-02 | 浙江阿尔郎科技有限公司 | Deck for balancing vehicle and balancing vehicle |
| CN115320761A (en) * | 2021-11-19 | 2022-11-11 | 钭俊龙 | Multi-program two-wheeled electric balance car and control method |
| CN115320761B (en) * | 2021-11-19 | 2024-05-17 | 钭俊龙 | Multi-program two-wheel electric balance car and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20200428 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |